In nature, insects, fish, birds and other animals flock. A simple two-dimensional model due to Vicsek et al treats them as self-propelled particles that move with constant speed and, at each time step, tend to align their velocities to an average of those of their neighbors except for an alignment noise (conformist rule). The distribution function of these active particles satisfies a kinetic equation. Flocking appears as a bifurcation from an uniform distribution of particles whose order parameter is the average of the directions of their velocities (polarization). This bifurcation is quite unusual: it is described by a system of partial differential equations that are hyperbolic on the short time scale and parabolic on a longer scale. Uniform solutions provide the usual diagram of a pitchfork bifurcation but disturbances about them obey the Klein-Gordon equation in the hyperbolic time scale. Then there are persistent oscillations with many incommensurate frequencies about the bifurcating solution, they produce a shift in the critical noise and resonate with a periodic forcing of the alignment rule. These predictions are confirmed by direct numerical simulations of the Vicsek model. In addition, if the active particles may choose with probability p at each time step to follow the conformist Vicsek rule or to align their velocity contrary or almost contrary to the average one, the bifurcations are of either period doubling or Hopf type and we find stable time dependent solutions. Numerical simulations demonstrate striking effects of alignment noise on the polarization order parameter: maximum polarization length is achieved at an optimal nonzero noise level. When contrarian compulsions are more likely than conformist ones, non-uniform polarized phases appear as the noise surpasses threshold.